RRT-A* Motion Planning Algorithm for Non-holonomic Mobile Robot
Jiadong Li1,2,ShirongLiu1*, Botao Zhang1, Xiaodan Zhao11School of Automation, Hangzhou Dianzi University, Hangzhou, Zhejiang 310018, China(Tel : +86-0571-86878535; E-mail:[email protected])2Institute of Automation, East China University of Science & Technology, Shanghai 200237,China(Tel : +86-0571-86878535; E-mail: [email protected])
Abstract:The RRT algorithm can deal with the motion planning problems in consideration of non-holonomicdifferential constraints, but it does not taken into consideration the optimal path problem in planning process.Random selection of nodes leads to every planning cost relatively different because of only use of metric function innew node selection. In this paper, an improved heuristic RRT-A* algorithm is proposed for robot motion planningwith non-holonomic constraints. In this algorithm, the cost function of A-Star(A*) is introduced into the RRTalgorithm to optimize the performance. Meanwhile, severalmetric functions are used as the heuristic informationfunctions respectively to measure the performance of different metric function. The simulation results shown that theManhattan heuristic information function based RRT-A*planning algorithm is better than the other improved RRTalgorithms in optimization path and computational cost